摘要
针对高温环境下串联机械臂无法长期可靠工作的情况,设计了一款适用于高温恶劣环境下的双龙门式作业机械臂,推导了其运动学模型,并进行了运动仿真验证。将该龙门式作业机械臂转化为等效的串联机械臂,通过D-H法对等效串联机械臂进行建模,推导了该龙门式作业机械臂运动学正逆解方程,给出了机械臂末端位姿和驱动关节参数之间的关系模型。最后结合避障路径规划,通过仿真分析验证了运动学正逆解方程的正确性,表明设计的龙门式作业机械臂可以实现预定功能。
Aiming at the situation that the series manipulator cannot work reliably for a long time in the high temperature environment,this paper designed a double-gantry manipulator suitable for the high temperature harsh environment,derived its kinematics model,and carried out the motion simulation.Firstly,the gantry manipulator is transformed into an equivalent series manipulator.Then the D-H method was used to model the equivalent manipulator,and the forward and inverse kinematics equations of the gantry manipulator were derived.The relationship model between the end pose of the manipulator and the parameters of the driving joint was given.Finally,combined with obstacle avoidance path planning,the correctness of the forward and inverse kinematics equations is verified through simulation analysis,which shows that the designed gantry manipulator can achieve the predetermined functions.
作者
马飞
李启光
王文胜
柳嘉诚
MA Fei;LI Qiguang;WANG Wensheng;LIU Jiacheng(School of Mechanical and Electrical Engineering,Beijing Information Science and Technology University,Beijing 100192,China)
出处
《重庆理工大学学报（自然科学）》
北大核心
2023年第9期100-107,共8页
Journal of Chongqing University of Technology：Natural Science
基金
国家自然科学基金项目(11802035)。
关键词
龙门式作业机械臂
运动学分析
避障路径规划
gantry operation manipulator arm
kinematics analysis
obstacle avoidance path planning
